#ifndef _MOTOR_PID_H
#define _MOTOR_PID_H
typedef struct
{
        float kp;
        float ki;
        float kd;
} PID_TypeDef;

typedef struct
{
        float left;
        float mid;
        float right;
} Direction_TypeDef;

typedef struct
{
        PID_TypeDef Angle_PID;
        PID_TypeDef Velocity_PID;
        Direction_TypeDef Balance_Angle;
        Direction_TypeDef Speed_Correction;
} Balance_Param_TypeDef;

extern Balance_Param_TypeDef Balance_Param;

void Balance_Control(void);
void Banlance_Algorithm_Init(void);
void Balance_Param_Init(void);

#endif
